CN106364648B - A kind of controllable aquatic bio-propulsion device of rigidity - Google Patents
A kind of controllable aquatic bio-propulsion device of rigidity Download PDFInfo
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- CN106364648B CN106364648B CN201610851210.0A CN201610851210A CN106364648B CN 106364648 B CN106364648 B CN 106364648B CN 201610851210 A CN201610851210 A CN 201610851210A CN 106364648 B CN106364648 B CN 106364648B
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- joint
- rigidity
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- variation
- variation rigidity
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- 239000011664 nicotinic acid Substances 0.000 claims abstract description 30
- 238000000576 coating method Methods 0.000 claims abstract description 28
- 230000008859 change Effects 0.000 claims abstract description 22
- 230000006698 induction Effects 0.000 claims abstract description 15
- 230000003592 biomimetic effect Effects 0.000 claims abstract description 12
- 229910001209 Low-carbon steel Inorganic materials 0.000 claims description 17
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 10
- 229910052782 aluminium Inorganic materials 0.000 claims description 10
- 238000000518 rheometry Methods 0.000 claims description 7
- 230000004907 flux Effects 0.000 claims description 2
- 230000009916 joint effect Effects 0.000 claims description 2
- 230000001141 propulsive effect Effects 0.000 abstract description 22
- 206010023230 Joint stiffness Diseases 0.000 abstract description 4
- 208000002740 Muscle Rigidity Diseases 0.000 description 63
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 14
- 235000010210 aluminium Nutrition 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 241000251468 Actinopterygii Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/18—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with coil systems moving upon intermittent or reversed energisation thereof by interaction with a fixed field system, e.g. permanent magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of controllable aquatic bio-propulsion device of rigidity, which includes：Bionic coatings apparatus main body, variation rigidity joint, joint connection framework, Biomimetic Fish tail fin, wherein：Bionic coatings apparatus main body be there are two or more stiffness-changing system composition, each stiffness-changing system is made of variation rigidity joint and joint connection framework；Joint connection framework in one system is rotatablely connected with movable members in the middle part of the variation rigidity joint of previous system, for the swing of bionical underwater propulsion unit；Variation rigidity joint changes magnetic field intensity by changing magnetic induction loop size of current, so as to change joint stiffness.When the present invention can make the robot carry out different task under same environment, stiffness by itself is adjusted, reaches the optimal propulsive performance of each task；Also it can change stiffness by itself under complex environment, improve the adaptability to environment；It advances in the period at one simultaneously, can respectively change the joint stiffness of bionic coatings device, to improve propulsive performance, reach best advanced state.
Description
Technical field
The invention belongs to bio-robot technical fields, and in particular to a kind of controllable aquatic bio-propulsion device of rigidity,
Underwater bionic coatings device stiffness variation can be controlled in real time, so as to improve the device of propulsive performance.
Background technology
Robot technology be collection bionics, theory of mechanisms, materialogy, control technology, electromechanical integration technology, sensing technology with
Artificial intelligence technology is the important embodiment of National Industrial development level and scientific and technological strength in the modern science and technology of one, special
There is not very strong application militarily.The research of bionical submariner device is even more with mobility strong, noise is low, is hidden in biocycle
It the advantages such as is not easy to recognize in border, economy, sudden, duplicity, concealment and Gao Sheng is had more compared to traditional conventional sea warfare weapons
Deposit rate.The bionical object of bionical underwater vehicle is varied, wherein the most universal with Fang Yu robots.Fish pass through more than one hundred million years
Evolution, stiffness by itself can be changed by adjusting itself muscle, so as to be in complicated underwater environment and different fortune
During dynamic state, it can ensure good kinetic characteristic.
Bionical underwater vehicle will adapt to underwater environment and efficiently accomplish task, need two challenges of reply：First, water
Under environment complicated and changeable.Environment flowing is more complicated in water, for river, there is fixed water (flow) direction, while also has dark
Stream and whirlpool, have stormy waves for lake, and for seawater, also larger stormy waves and tide.Therefore bionical submariner device
There are higher fltting speed and propulsive force to prevent from being stranded；Second is that the completion of the more operations of multitask.Submariner device needs under water
Several work is completed, different work proposes different requirements to its performance.Such as underwater inspection, there need to be higher propulsive efficiency,
A wide range of travelling is completed under limited energy resource supply；For another example underwater investigation, both needs to have compared with high maneuverability, can pass through various obstacles
It is rapid to reach the required destination investigated, and preferable stability and concealment are needed to prevent giving away one's position.
Research shows that the stiffness variation of bionical underwater propulsion unit influences whether movement needs and its propulsion of robot
Performance.However the rigidity of traditional bionical underwater vehicle is fixed, and when carrying out single homework under water, can not be become according to real-time
The underwater complex environment of change changes stiffness by itself, to be optimal travelling performance；And complete different motion in single water environment
The bionical underwater vehicle of state tradition again can be by the immutable influence of stiffness by itself, it is difficult to accomplish under various motion states all
Reach best travelling performance；In addition, for traditional bionical underwater propulsion unit, it is desirable to change rigidity generally by
The modes such as more conversion materials, inefficiency, and rigidity cannot be changed in a swing period, propulsive performance is improved limited.
Invention content
The purpose of the present invention is to solve above-mentioned problems of the prior art, and bionic coatings device is enable to swim
By changing rigidity in each period in dynamic, adjustment bionic coatings device is in the same direction to its direction of propulsion in water in swing period
With reversed amount of force and the mode of action, its propulsive performance is effectively improved.The controllable water of a kind of rigidity proposed by the present invention
Lower bionic coatings device can be while robot motion, in one cycle, by changing the firm of different variation rigidity joints
Degree simulates the contraction and diastole of the muscle of fish in nature, and bionic coatings device is enable to be presented when a cycle is swung in water
Go out different travelling postures, so that reaching most suitable rigidity in the period for being beneficial to positive propulsive force generation, and be unfavorable for just
The cyclomorphosis rigidity generated to propulsive force makes the resistance of generation minimum, so as to improve the propulsion capability in a period of flapping.
The stiffness variation in each variation rigidity joint of the present invention can be it is synchronous can also be it is independent, can by each joint into
Row different-stiffness changes, and improves the propulsive performance of bionical underwater propulsion mechanism.
The controllable aquatic bio-propulsion device of a kind of rigidity proposed by the present invention, it is bionical to push away including bionic coatings apparatus main body
Include a section or two sections and Yi Shang stiffness-changing system and Biomimetic Fish tail fin into apparatus main body, outside the bionic coatings apparatus main body
There is waterproof covering package；Any one section stiffness-changing system is formed by connecting by variation rigidity joint and joint connection framework, described
Variation rigidity joint is by iron core, magnetic induction loop, magnetic rheology elastic body (MRE) ring, low-carbon steel disc, permanent magnet and aluminum connector group
Into, wherein, for magnetic induction loop around iron core, permanent magnet center passes through iron core, and compresses Zhoucheng outer ring and rotational parts, permanent magnet
One constant magnetic field is provided, variation rigidity joint is made to be in magnetic field environment at the very start, when changing coil magnetic field intensity, by
The magnetic field of permanent magnet and the magnetic field joint effect variation rigidity joint of coil, so as to which the rigidity in variation rigidity joint is made to realize positive losing side
To variation or be not added with permanent magnet, then without magnetic field environment at the beginning, when changing coil magnetic field intensity, can only realize just
The positive change of degree, magnetic rheology elastic body (MRE) ring and low-carbon steel disc are staggeredly sleeved on outside magnetic induction loop, can be big by adjusting electric current
It is small to adjust magnetic field, joint torsion stiffness, the upper and lower ends aluminums connection in variation rigidity joint are changed by the variation of magnetic flux
Head is connected with joint connection framework one end；With being connected in the middle part of another variation rigidity joint in the middle part of the connection framework other end of joint.
Further, the bionic coatings apparatus main body is in Biomimetic Fish shape.
Further, the variation rigidity joint aluminum connector can be different according to the requirement of bionical underwater propulsion unit, if
Different connection modes is counted, aluminum connector can also be clamped on frame articulation, can be also fixedly connected with frame by frame.
Further, the variation rigidity joint is cylinder, cuboid or cone shape.
Further, the Biomimetic Fish caudal-fin models are rectangle, crescent, trapezoidal or fan-shaped.
Beneficial effects of the present invention are：The controllable bionic coatings device of rigidity of the present invention passes through the change of rigidity under the period of motion
Change and improve its propulsive performance.In one cycle, water is identical with robot direction of travel to the reaction force of bionic coatings device
When, the rigidity of bionic coatings device can be become most just when the propulsive force generated under this rigidity is maximum；And when water is to bionical
When the reaction force of propulsion device is opposite with robot direction of travel, the rigidity of bionic coatings device can be become to minimum, that is, existed
Generated propulsive force is minimum under this rigidity, so as to improve the propulsive performance of bionic coatings device.It can be when promoting to not
Change different-stiffness with joint, enhance bionic coatings device to the adaptability of environment and to cruising, turning, accelerating etc. times
The quick fulfillment capability of business, is attained by optimal propulsive performance under varying environment and task.
Description of the drawings
Fig. 1 is that structure of the controllable aquatic bio-propulsion device of rigidity of the present invention containing two sections and two section more than stiffness-changing systems is shown
It is intended to, wherein, 1 is variation rigidity joint, and 2 be joint connection framework, and 3 be Biomimetic Fish Fin；
Fig. 2 is structure diagram of the controllable aquatic bio-propulsion device of rigidity of the present invention containing a section stiffness-changing system；
Internal structure schematic diagrams of the Fig. 3 for the variation rigidity joint according to one embodiment of the invention, wherein, 4 connect for aluminum
Head, 5 be mild steel end cap, and 6 be low-carbon steel disc, and 7 be magnetic rheology elastic body (MRE) ring, and 8 be permanent magnet, and 9 be iron core, and 10 be magnetic
Feel coil, 11 be ball bearing, and 12 be rotational parts (mild steel), and 13 be the line of magnetic induction；
Fig. 4 is the structure diagram according to the variation rigidity joint of one embodiment of the invention；
Fig. 5 is the sectional view according to the variation rigidity joint of one embodiment of the invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
For containing the controllable aquatic bio-propulsion device of rigidity of two sections and two section more than stiffness-changing systems, Fig. 1 is this hair
The structure diagram that the bright controllable aquatic bio-propulsion device of rigidity contains, as shown in Figure 1, the controllable bionic coatings device of the rigidity is
It is made of Biomimetic Fish tail fin 3 and several stiffness-changing systems, each stiffness-changing system includes：Variation rigidity joint 1 is connected with joint
Frame 2.Wherein：
The stiffness-changing system is that have variation rigidity joint both ends to be connected with joint link end, before the link of joint
It holds and is connected with rotational parts in the middle part of the variation rigidity joint of another group of stiffness-changing system.It is two or more since in this way
With regard to that can relatively rotate between stiffness-changing system.The front end of Biomimetic Fish tail fin and the variation rigidity of last group of stiffness-changing system close
Section middle part rotational parts are connected.It can all produce relative rotation between each system when swinging, be pushed away so as to fulfill bionical in this way
Into.
Fig. 2 is formed for one stiffness-changing system and Biomimetic Fish tail fin, principle with saved containing two sections and two more than change it is firm
Degree system is identical with the structural principle that bionic caudal fin forms.
Fig. 3 is the sectional view in variation rigidity joint.Variation rigidity joint is by aluminum connector 4, mild steel end cap 5, low-carbon steel disc
6th, magnetic rheology elastic body (MRE) ring 7, permanent magnet (can should not permanent magnet changed certain thickness low-carbon steel disc into) 8, iron core 9,
Magnetic induction loop 10, ball bearing 11 and rotational parts (mild steel) 12 form.Wherein, at the top of aluminum connector frame is connect with joint
Frame end connects, and bottom is connect with mild steel end cap.The mild steel end cap at variation rigidity joint both ends secures the position of iron core, iron
Ball bearing is cased among core.It is interference fitted on the outside of ball bearing with rotational parts.Rotational parts up and down both sides and permanent magnet (or
Thick low-carbon steel disc) contact.In mild steel end cap and permanent magnet (or thick low-carbon steel disc) intermediate, winding multiturn magnetic induction line on the outside of iron core
Circle.On the outside of magnetic induction loop, magnetic rheology elastic body (MRE) ring and low-carbon steel disc are staggeredly placed.Entirely variation rigidity joint is external
Part is all bonded.13 direction of the line of magnetic induction can be direction as shown in Figure 3 or opposite direction.Line of magnetic induction direction with
Magnetic induction loop winding direction is related.
When Biomimetic Fish tail fin is swung, joint connection framework can drive rotational parts to rotate, and rotational parts can make entirely to become
Rigidity joint twists.Under fixed environment, certain swing angle and frequency, the angle of variation rigidity joint torsion is only
It is related with the reaction force of water.Change magnetic field intensity by changing magnetic induction loop size of current, further change magnetorheological bullet
Property body rigidity, so as to actively change joint stiffness, simulate the variation of fish muscle rigidity when moving about, it is most suitable so as to find
With the rigidity of current environment, frequency and the amplitude of oscillation, the propulsive performance of bionic coatings device is improved.
When bionic coatings device carries out operation under complex environment, it is firm joint can be changed by changing magnetic field intensity
Degree, so as to change the swimming characteristics of entire bionic coatings device in water, improves its adaptive capacity to environment and swimming characteristics.And work as
Bionic coatings device is being cruised, is being turned or when linear accelerating is when tasks, can be reached by adjusting the variation of its rigidity
To the most suitable rigidity of each task, cruising, turning or when linear accelerating is attained by the optimal of bionic coatings device to realize
Performance.
Meanwhile the stiffness variation of each stiffness-changing system of the variation rigidity aquatic bio-propulsion device can be consistent
Or it is respective independent.Therefore, this variation rigidity aquatic bio-propulsion device can change difference in a swing period
The rigidity in joint, makes bionic coatings device when swinging, and reaches the most suitable of each joint in the period that propulsive force is contributed to generate
Rigidity, to improve propulsive force, and it is minimum to generate opposite force in the period modulation rigidity for generating opposite force, so as to reduce resistance,
And then improve the propulsive performance of variable rigidity bionic propulsion device.
Fig. 4 is the 3-D view in the variation rigidity joint, and Fig. 5 is the three dimensional sectional view in the variation rigidity joint.
In short, the operation principle of the controllable aquatic bio-propulsion device of rigidity is：It is each to change to change magnetic field intensity
The rigidity in joint, and further change the kinetic characteristic of robot by the stiffness variation of bionic coatings device, so as to enhance
The propulsive performance of robot.
To sum up, it is long can to improve the long endurance that robot moves under water for the controllable aquatic bio-propulsion device of rigidity of the present invention
Voyage ability, while but also with high speed, the ability of high motor-driven propulsion, and the change of different joint stiffness can be passed through in one cycle
Change the propulsive force for improving each period, propulsive performance can greatly be improved.
Particular embodiments described above has carried out the purpose of the present invention, technical solution and advantageous effect further in detail
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the present invention
Within the scope of shield.
Claims (5)
1. a kind of controllable aquatic bio-propulsion device of rigidity, it is characterised in that：Including bionic coatings apparatus main body, bionic coatings
Apparatus main body includes a section or two sections and Yi Shang stiffness-changing system and Biomimetic Fish tail fin, has outside the bionic coatings apparatus main body
Waterproof covering wraps up；Any one section stiffness-changing system is formed by connecting by variation rigidity joint and joint connection framework, the variation rigidity
Joint is made of iron core, magnetic induction loop, magnetic rheology elastic body (MRE) ring, low-carbon steel disc, permanent magnet and aluminum connector, wherein,
Magnetic induction loop is around iron core, and permanent magnet center passes through iron core, and compresses bearing outer ring and rotational parts, and permanent magnet provides one
Constant magnetic field makes variation rigidity joint be in magnetic field environment at the very start, when changing coil magnetic field intensity, by permanent magnet
Magnetic field and the magnetic field joint effect variation rigidity joint of coil, so as to which the rigidity in variation rigidity joint is made to realize the change of positive negative direction
Change or be not added with permanent magnet, then without magnetic field environment at the beginning, when changing coil magnetic field intensity, can only realize rigidity just
To variation, magnetic rheology elastic body (MRE) ring and low-carbon steel disc are staggeredly sleeved on outside magnetic induction loop, can be adjusted by adjusting size of current
Magnetic field is saved, joint torsion stiffness is changed by the variation of magnetic flux, the upper and lower ends aluminum connector in variation rigidity joint is with closing
Section connection framework one end is connected；With being connected in the middle part of another variation rigidity joint in the middle part of the connection framework other end of joint.
2. a kind of controllable aquatic bio-propulsion device of rigidity according to claim 1, it is characterised in that：It is described bionical to push away
It is in Biomimetic Fish shape into apparatus main body.
3. a kind of controllable aquatic bio-propulsion device of rigidity according to claim 1, it is characterised in that：The variation rigidity
Joint aluminum connector can design different connection modes, aluminum connector according to the requirement difference of bionical underwater propulsion unit
It can be clamped with being fixedly connected on frame articulation or with frame or by frame.
4. a kind of controllable aquatic bio-propulsion device of rigidity according to claim 1, it is characterised in that：The variation rigidity
Joint is cylinder, cuboid or cone shape.
5. a kind of controllable aquatic bio-propulsion device of rigidity according to claim 1, it is characterised in that：The Biomimetic Fish
Caudal-fin models are rectangle, crescent, trapezoidal or fan-shaped.
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| CN201610851210.0A CN106364648B (en) | 2016-09-26 | 2016-09-26 | A kind of controllable aquatic bio-propulsion device of rigidity |
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| CN201610851210.0A CN106364648B (en) | 2016-09-26 | 2016-09-26 | A kind of controllable aquatic bio-propulsion device of rigidity |
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| CN106364648B true CN106364648B (en) | 2018-07-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106956759B (en) * | 2017-04-26 | 2018-07-24 | 哈尔滨工程大学 | A kind of imitative fish underwater robot tail drive system variable stiffness apparatus |
| CN109941415B (en) * | 2019-04-28 | 2021-01-05 | 哈尔滨工程大学 | Rope traction bionic cartilage robotic fish |
| CN110127016B (en) * | 2019-05-30 | 2023-12-12 | 福州大学 | Double-joint mechanical fish tail propelling mechanism and working method thereof |
| CN110683028A (en) * | 2019-09-30 | 2020-01-14 | 上海海洋大学 | Underwater propelling device imitating squid tentacles |
| CN112003443A (en) * | 2020-08-07 | 2020-11-27 | 诺非(重庆)技术有限公司 | Connecting structure |
| CN113525643B (en) * | 2021-06-18 | 2022-06-10 | 南京航空航天大学 | Full-deep-sea microminiature underwater propeller and driving method thereof |
| GB2620788A (en) * | 2022-07-22 | 2024-01-24 | Univ Strathclyde | Magnetically coupled modular system |
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| KR20130093256A (en) * | 2012-02-14 | 2013-08-22 | 서울대학교산학협력단 | Underwater robot based on flapping |
| CN202686732U (en) * | 2012-04-20 | 2013-01-23 | 合肥凌翔信息科技有限公司 | Multifunctional bionic robotic fish |
| TWI538358B (en) * | 2012-04-25 | 2016-06-11 | Yi-Chen Liu | Electromagnetic actuated converters that can be adjusted for performance matching |
| CN103612734B (en) * | 2013-11-14 | 2016-01-13 | 哈尔滨工业大学 | A kind of variable rigidity bionic of Electromagnetic Drive swings propelling unit |
| CN103950525A (en) * | 2014-04-24 | 2014-07-30 | 苏州科技学院 | Low-energy-consumption magnetomotive propelling mechanism of bionic robot fish |
| CN206125384U (en) * | 2016-09-26 | 2017-04-26 | 中国科学技术大学 | Controllable bionical advancing device under water of rigidity |
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